% generate_point_pair X = 4x1 vector, 3D point b,Rot = relative orientation sigma = radial error of direction [u,v] = generate_point_pair(X,b,R,sigma) Wolfgang Förstner 04/2014 wfoerstn@uni-bonn.de
0001 %% generate_point_pair 0002 % 0003 % X = 4x1 vector, 3D point 0004 % b,Rot = relative orientation 0005 % sigma = radial error of direction 0006 % 0007 % [u,v] = generate_point_pair(X,b,R,sigma) 0008 % 0009 % Wolfgang Förstner 04/2014 0010 % wfoerstn@uni-bonn.de 0011 0012 0013 function [u,v] = generate_point_pair(X,b,Rot,sigma) 0014 0015 % projection matrices 0016 P1 = [eye(3) zeros(3,1)]; 0017 P2 = Rot*[eye(3),-b]; 0018 0019 % true directions 0020 u_true = P1*X; u_true = u_true/norm(u_true); 0021 v_true = P2*X; v_true = v_true/norm(v_true); 0022 0023 % perturbed directions, only two angles are affected, 0024 R_1 = calc_Rot_rod(sigma*randn(3,1)); 0025 u = R_1*u_true; 0026 u = u/norm(u); 0027 R_2 = calc_Rot_rod(sigma*randn(3,1)); 0028 v = R_2*v_true; 0029 v = v/norm(v);